I/O Ports E and F are used for communications between the SmartMotor and the CANopen Gateway.

I/O Device CAN Bus Master - SmartMotors can now interface with standard CiA 301 CANopen devices including but not limited to:

Remote digital/analog/mixed signal I/O

CAN bus absolute or relative encoders

Inclinometers

Load cells

Temperature controllers

Pneumatic valve blocks

And more

Basic control allows 8, 16, or 32-bit sized data objects with support for both PDO and SDO protocols. The supported profiles include but are not limited to I/O profile, encoder profile, and DS4xx profile. This provides the ability to:

A SmartMotor can send/receive up to 5 PDOs each for RX (Receive) and TX (Transmit)

Read/write SDOs in expedited mode only; which works up to 32-bit data

Multiple SmartMotors and multiple I/O devices may be on the same CAN bus. This combined with Combitronic motor-to-motor communications allows for complex, multi-axis, multi-I/O-device network control. Now you can achieve full machine control with just the SmartMotors -- no other HMI or bus master is required!

I/O Ports E and F are used for communications between the SmartMotor and the PROFIBUS Gateway.

Note: PROFIBUS baud rates are achievable only with proper cable length and termination connnectors. There is a minimum cable length when operating >= 1MBaud. If the cable is too short, reflected impedance can cause loss of communications data packets and spurious node errors.

Note: This option DOES NOT apply to all models. Currently, models that support this option are:

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Combitronic

Combitronic: High Speed Transparent Communication Protocol Over CAN bus

Moog Animatics has introduced a significant advancement in Integrated Motor Technology. Combitronic™ is a protocol that operates over a standard “CAN” (Controller Area Network) interface. It may coexist with either CANopen or DeviceNet protocols at the same time. Unlike these common protocols however, Combitronic™ requires no single dedicated master to operate. Each Integrated Servo connected to the same network communicates on an equal footing, sharing all information, and therefore, sharing all processing resources. Combitronic communications operate over a standard “CAN” interface, the same basic hardware used in most automobiles as well as in familiar industrial networks such as CANopen and DeviceNet. Unlike these common control networks, however, Combitronic has no master or slave.

An array of Moog Animatics SmartMotor servos become one giant parallel-processing system when equipped with the Combitronic™ interface. This powerful technological advancement provides the joint benefits of centralized and distributed control while eliminating their respective historical drawbacks, opening up the possibility to either:

Eliminate PLCs from machine designs or Enhancing the performance of existing PLCs by unburdening it from specific tasks

The optional Combitronic™ technology allows any motor’s program to read from, write to, or control any other motor simply by tagging a local variable or command with the other motor’s CAN address. All SmartMotor™ units become one multi-tasking, data-sharing system without writing a single line of communications code or requiring detailed knowledge of the CAN protocol. The only prerequisite is to have matched baud rates and unique addresses.

Up to 120 SmartMotor servos may be addressed on a single array using Combitronic technology.

Combitronics Protocol features:

120 axis node count

1MHz Bandwidth

No Master required

No scan list or node list set up required

All Nodes have full read/write access to all other nodes

For example, SmartMotor servos use a single letter command to start a motion profile, so a line of code to start a motion profile would look like this:

G'Issue Go in local motorG:2 'Issue Go to Motor 2G:0'Issue Global Go to all motors on the networkx=PA:5 'Assign Motor 5 Actual position to the variable “x”

Additionally, comparisons or live polling and value comparisons may be made across the bus:

Modbus

Modbus® on the Moog Animatics SmartMotor™

Modbus is a widely used, open-source, industrial communications protocol. It provides robust, easily implemented communications between a PLC, or other master device, and downstream slave devices on the bus.

Although the Modbus RTU version has strict cabling requirements, which include the use of terminating resistors at each end of the bus, the Modbus TCP/IP version offers different cabling configurations to fit the particular application (see the following figures).

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As a Preferred Drives company, Moog Animatics has a special arrangement with Trio Motion Technology, a specialist in high-performance motion control, to offer the Trio MC4N-ECT EtherCAT contollers to our channels at very competitive configurations.